#include "catch2/catch.hpp"

#include "../../../../src/modules/buttons.h"
#include "../../../../src/modules/finda.h"
#include "../../../../src/modules/fsensor.h"
#include "../../../../src/modules/globals.h"
#include "../../../../src/modules/idler.h"
#include "../../../../src/modules/leds.h"
#include "../../../../src/modules/motion.h"
#include "../../../../src/modules/permanent_storage.h"
#include "../../../../src/modules/selector.h"

#include "../../../../src/logic/cut_filament.h"

#include "../../modules/stubs/stub_adc.h"

#include "../stubs/main_loop_stub.h"
#include "../stubs/stub_motion.h"

using Catch::Matchers::Equals;

template <typename COND>
bool WhileCondition(COND cond, uint32_t maxLoops = 5000) {
    while (cond() && --maxLoops) {
        main_loop();
    }
    return maxLoops > 0;
}

TEST_CASE("cut_filament::cut0", "[cut_filament]") {
    using namespace logic;
    CutFilament cf;
    main_loop();

    // let's assume we have the filament NOT loaded
    modules::globals::globals.SetFilamentLoaded(false);

    // restart the automaton
    currentCommand = &cf;
    cf.Reset(0);

    // it should have instructed the selector and idler to move to slot 1
    // check if the idler and selector have the right command
    CHECK(modules::motion::axes[modules::motion::Idler].targetPos == 0); // @@TODO constants
    CHECK(modules::motion::axes[modules::motion::Selector].targetPos == 0); // @@TODO constants

    // now cycle at most some number of cycles (to be determined yet) and then verify, that the idler and selector reached their target positions
    REQUIRE(WhileCondition([&]() { return cf.State() == ProgressCode::SelectingFilamentSlot; }, 5000));

    // idler and selector reached their target positions and the CF automaton will start feeding to FINDA as the next step
    REQUIRE(cf.State() == ProgressCode::FeedingToFinda);
    REQUIRE(WhileCondition([&]() { return cf.State() == ProgressCode::FeedingToFinda; }, 5000));

    // filament fed into FINDA, cutting...
    REQUIRE(cf.State() == ProgressCode::PreparingBlade);
    REQUIRE(WhileCondition([&]() { return cf.State() == ProgressCode::EngagingIdler; }, 5000));

    // the idler should be at the active slot @@TODO
    REQUIRE(cf.State() == ProgressCode::PushingFilament);
    REQUIRE(WhileCondition([&]() { return cf.State() == ProgressCode::PushingFilament; }, 5000));

    // filament pushed - performing cut
    REQUIRE(cf.State() == ProgressCode::PerformingCut);
    REQUIRE(WhileCondition([&]() { return cf.State() == ProgressCode::PerformingCut; }, 5000));

    // returning selector
    REQUIRE(cf.State() == ProgressCode::ReturningSelector);
    REQUIRE(WhileCondition([&]() { return cf.State() == ProgressCode::ReturningSelector; }, 5000));

    // the next states are still @@TODO
}

// comments:
// The tricky part of the whole state machine are the edge cases - filament not loaded, stall guards etc.
// ... all the external influence we can get on the real HW
// But the good news is we can simulate them all in the unit test and thus ensure proper handling